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Author Byunghyun Choi ♦ Tae-Young Kuc ♦ Hyoukryeol Choi
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1997
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations
Subject Keyword Robot motion ♦ Control systems ♦ Nonlinear dynamical systems ♦ Programmable control ♦ Adaptive control ♦ Force control ♦ Nonlinear control systems ♦ Trajectory ♦ Uncertain systems ♦ Master-slave
Abstract In this paper, we propose a method of adaptive learning control applicable to the bilaterally controlled teleoperating system. The control scheme learns the desired inverse dynamics of the system to predict and compensate for the nonlinear dynamics which is the source of poor trajectory tracking and force regulation. In addition, the uncertain system parameters and input disturbances are continuously learned and the time-variance of which is also taken into account by the feedforward learning controller. The proposed control scheme is shown to be stable and the effectiveness of which is experimentally verified with a teleoperating system composed of master-slave SCARA robots.
Description Author affiliation: Sch. of Mech. Eng., Sung Kyun Kwan Univ., Suwon, South Korea (Byunghyun Choi)
ISBN 0780340531
ISSN 1062922X
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1997-10-12
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 512.04 kB
Page Count 6
Starting Page 2752
Ending Page 2757


Source: IEEE Xplore Digital Library